It doesn't necesarrily get worse, but you need to be open and honest to your closest people. Tell them that you had to learn social interaction and that it doesn't come naturally.
It's what I did and people accept me with the occasional weird now, because they know I make a real effort to fit in.
Occasional contacts with people I don't see regularly tend to go well, as they don't see me often enough to know that I'm off sometimes.
It's still embarrassing to miss a social cue every once in a while though, because that makes you stick out like a sore thumb.
Feelings of isolation will never go away completely, but I combat that rationally. If people ask my boyfriend how I'm doing, that means they care about me. If they care about me, I add something of value to their lives. That makes me part of their group.